Observer-based fault-tolerant control design for a class of sampled-data nonlinear systems with bounded disturbances

This paper presents an observer-based fault-tolerant control design for a class of sampled-data nonlinear systems with the multiplicative fault of actuators and bounded disturbances. In addition, a generalized Lipschitz condition on system nonlinearities is considered to acquire less conservative results. First, the continuous-time system is discretized by Euler approximate discrete-time model. Next, based on this discrete-time model, an observer for the estimation of continuous time states is proposed. Then, sufficient conditions are derived for constructing a nonlinear observer-based fault-tolerant controller for sampled-data system. It is worth to note that the observer and control gains are achieved by LMI-based methods. Furthermore, the control law depends on a constant gain that is easy to set and implement in practice. Finally, the effectiveness of proposed approach is illustrated by a single-link manipulator system.